Reduce root Height in reference config

talos_rbprm/talos.py

@@ -40,7 +40,7 @@ class Robot(Parent):
     referenceConfig = [
         0.0,
         0.0,
-        1.0225,
+        1.01977,
         0.0,
         0.0,
         0.0,
@@ -82,7 +82,11 @@ class Robot(Parent):
     referenceConfig_elbowsUp = [
         0.0,
         0.0,
+<<<<<<< cba7912482150ad26b98838e76e365360853dd49
         1.0225,
+=======
+        1.01977,
+>>>>>>> Reduce root Height in reference config
         0.0,
         0.0,
         0.0,
@@ -124,7 +128,11 @@ class Robot(Parent):
     referenceConfig_legsApart = [
         0.0,
         0.0,
+<<<<<<< cba7912482150ad26b98838e76e365360853dd49
         1.0225,
+=======
+        1.01977,
+>>>>>>> Reduce root Height in reference config
         0.0,
         0.0,
         0.0,
@@ -166,7 +174,11 @@ class Robot(Parent):
     referenceConfig_armsFront = [
         0.0,
         0.0,
+<<<<<<< cba7912482150ad26b98838e76e365360853dd49
         1.0225,
+=======
+        1.01977,
+>>>>>>> Reduce root Height in reference config
         0,
         0.0,
         0.0,

talos_rbprm/talos_abstract.py

@@ -25,7 +25,7 @@ class Robot(Parent):
     legX = 0.1
     legY = 0.06
 
-    ref_height = 1.0225
+    ref_height = 1.01977
     # reference position of the end effector position for each ROM
     ref_EE_lLeg = [-0.008846952891378526, 0.0848172440888579, -1.01977]
     ref_EE_lLeg[0] = 0.  # assure symetry of dynamic constraints on flat ground